orocos/orocos-docs

Orocos Documentation served by ReadTheDocs

Orocos Documentation

This repository contains the documentation about Orocos in a ReadTheDocs-friendly format.

orocos-docs's Issues

Problem for Aligned Vector

hi

How do you do?
i tried integrate KDL for aligned the last branch of the robots n one vector.
I not need follow the position just aligned on vector.
i have tried this but not works do you can help me please?

KDL::Chain chain;    

KDL::Vector axisX(1.0, 0.0, 0.0);
KDL::Vector axisY(0.0,1.0, 0.0);
KDL::Vector axisZ(0.0, 0.0, 1.0);
KDL::Vector axisQ(0.707107, 0.0, 0.707107);



Joint defineJointZ("axeC", KDL::Vector(0.0, 0.0, 0.0), axisZ, Joint::RotAxis);
Joint defineJointX("axeA", KDL::Vector(0.0, 0.0, 0.0), axisX, Joint::RotAxis);
Joint defineJointY("axeB", KDL::Vector(0.0, 0.0, 0.0), axisY, Joint::RotAxis);
Joint defineJointQ("axeA", KDL::Vector(0.0, 0.0, 0.0), axisQ, Joint::RotAxis);


chain.addSegment(Segment(Joint(Joint::TransX), Frame(Vector(0.0, 0.0, 0.0))));
chain.addSegment(Segment(Joint(Joint::TransY), Frame(Vector(0.0, 0.0, 0.0))));
chain.addSegment(Segment(Joint(Joint::TransZ), Frame(Vector(0.0, 0.0, 0.0))));

chain.addSegment(Segment("axeA", defineJointZ, Frame(Vector(0.0, 0.0, -1.0))));
chain.addSegment(Segment("axeC", defineJointQ, Frame(Vector(0.0, 0.0, -1.0))));
chain.addSegment(Segment("Tool", Joint(Joint::Fixed), Frame(Vector(0.0, 0.0, -1.0))));

//Creation of the solvers:
ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver
ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver
ChainIkSolverPos_NR iksolver1(chain, fksolver1, iksolver1v, 10000, 1e-6);//Maximum 100 iterations, stop at accuracy 1e-6

//Creation of jntarrays:
JntArray q_out(chain.getNrOfJoints());
JntArray q_init(chain.getNrOfJoints());
Rotation rot;
rot.DoRotX(M_PI /2);

double RX, RY, RZ;
rot.GetRPY(RX, RY, RZ);
printf("Rotation \n");
std::cout << (RX * 180) / M_PI << std::endl;
std::cout << (RY * 180) / M_PI  << std::endl;
std::cout << (RZ * 180) / M_PI << std::endl;
printf(" \n ");
Frame F_dest = Frame(rot); // point de destination

int ret = iksolver1.CartToJnt(q_init, F_dest, q_out);
for (unsigned int i = 0; i < chain.getNrOfJoints(); i++)
{
    std::string name = chain.getSegment(i).getName()+ " ";
    printf("joint : %i", i);
    printf("%s \n", "  ");
    std::cout << name;
    std::cout <<   (q_out(i) * 180) / M_PI << std::endl;
}

Unable to access chain and geometry documentation

I am unable to access the chain and geometry documentation, when redirected the message I get is that I don't have a permission to access that resource, do I need to request permissions?

Thank you.

using pthread or std::thread under Xenomai

Hello

I have an existing real-time component that was developed using Orocos on Xenomai

on the component, there is a thread that running not in real-time using pthread

I need to introduce some locking mechanisms due to shared resource

I want to use "std" functions to accomplish it as it seems to me safer and also I know more about this

should I convert the pthread to std::thread?

Decentralize the documentation among subprojects

Unifying in a decentralized way

This project is a new very good approach to gather all documentation related to Orocos together in: Orocos documentation.

What then?

Now, the documentation is presented together is good, but if the source of the documentation is decentralized in the different subprojects, it would be even better.

How can it be done?

There is a chance to move parts to other repositories. For example, we could move all rtt content to the rtt actual repository in the docs folder, and move all the ocl documentation to that repository, and keep here what doesn't belong anywhere else.

• The first tool is intersphinx, that allows to declare remote documentation addresses and link pages very easily with only a prefix for the site name.
• Readthedocs can be configured to mount other respositories as subprojects of the main repository.

The main difficulty is to generate the table of contents that is shared in common for the side bar navigation. This documentation site is an example of it.
The developer explains a bit of the technique behind that.

• An example can be found in his documentation repository.